Method of evaluating and correcting robot program and device for evaluating and correcting robot program
AssigneeFanuc Corporation
InventorsYoshiharu Nagatsuka, Toshiya Takeda
Life of this patent
Estimating the term…
Abstract
There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.
Claims2
A method of evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, said method comprising:
- designating a three-dimensional target operation route of the robot in a robot operation;
- performing a simulation of the robot operation by a computer to determine a three-dimensional simulated operation route corresponding to the target operation route;
- based on the overall length of the target operation route and the overall length of the simulated operation route, calculating a deviation between an arbitrary target teaching point on the target operation route of the robot and a corresponding simulated teaching point on the simulated operation route;
- and
- if the deviation exceeds a predetermined allowed value, correcting the simulated teaching point by repeatedly shifting the teaching point by a predetermined distance and executing the simulation until the deviation is decreased to be lower than the predetermined allowed value.
A device for evaluating an appropriateness of a robot operation program and correcting the robot operation program, said device comprising a computer including a simulation function for confirming a robot operation,
- the computer comprising:
- a route designation section for designating a three-dimensional target operation route of the robot;
- a simulation section for performing a simulation of the robot operation to determine a three-dimensional simulated operation route corresponding to the target operation route;
- a storage section for calculating and storing, based on the overall length of the target operation route and the overall length of the simulated operation route, a deviation between an arbitrary target teaching point on the target operation route of the robot and a corresponding simulated teaching point on the simulated operation route;
- and
- a correction section for correcting the simulated teaching point, if the deviation exceeds a predetermined allowed value, by repeatedly shifting the teaching point by a predetermined distance and executing the simulation until the deviation is decreased to be lower than the predetermined allowed value.
Dependencies are inferred from the claim text.